
#include <vector>

#include <ros/ros.h>

#include "Scene.h"

int main(int argc,char** argv){
    ros::init(argc,argv,"iusc_indoor_scene");
    ros::NodeHandle nh;
    ros::NodeHandle pnh("~");

    iusc::IUSCIndoorScene scene;
    scene.initialize(nh,pnh);
    double rate = 30;
    double dt = 1.0/rate;
    ros::Rate simRate(rate);
    while (ros::ok())
    {
        scene.update(dt);
        simRate.sleep();
        ros::spinOnce();
    }

    return 0;
}